/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "adc.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdbool.h"
#include "mpu6050.h"
#include "stdio.h"
#include "delay.h"
#include "motor.h"
#include "encode.h"
#include "pid.h"
#include "my_struct.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
char aRxBuffer[2];
uint16_t adc_values[3];
light_values light;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
{
    // 这个函数会在DMA传输完成时被调用
    // 你可以在这里处理adc_values数组
  if(hadc->Instance == ADC1)
  {
      for(int i = 0; i < 3; i++)
      {
          // 处理每一个ADC的值
          light.left_light = adc_values[0];
          light.mid_light = adc_values[1];
          light.right_light = adc_values[2];
      }
      HAL_ADC_Stop_DMA(hadc);
  }
    // 如果你想要继续读取ADC的值，你可以在这里重新启动DMA传输
    
}
//串口接受回调函数
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  if (huart->Instance == USART1)
  {
    printf("Received: %s\n", aRxBuffer);
  }
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  MX_ADC1_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_TIM5_Init();
  MX_TIM1_Init();
  /* USER CODE BEGIN 2 */
  HAL_ADC_Start_DMA(&hadc1, (uint32_t*)adc_values, 3);
  Robot_Encoder_CNT[0] = 0;
  Robot_Encoder_CNT[1] = 0;
  ZYQ_MPU_Init();
  
  //�????始产生pwm
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
  //电机正转
  // motor1_forward();
  // HAL_Delay(1000);
  // //电机停止
  // motor1_stop();
  // motor2_forward();
  // HAL_Delay(1000);
  // motor2_stop();
  //设置两个电机参数
  /*******************  设置电机1速度******************************/
  Moto1.Current_Speed = 0;
  Moto1.Encoder_Value = 0;
  Moto1.ESC_Output_PWM = 0;
  Moto1.L_Error = 0;
  Moto1.LL_Error = 0;
  Moto1.Target_Speed = 1;

  /*******************  设置电机2速度******************************/
  Moto2.Current_Speed = 0;
  Moto2.Encoder_Value = 0;
  Moto2.ESC_Output_PWM = 0;
  Moto2.L_Error = 0;
  Moto2.LL_Error = 0;
  Moto2.Target_Speed = 1;

   motor1_forward();
   motor2_forward();
   Robot_Encoder_Start();
   //定时�???4编码器开始工�???
    HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
    //定时�???5编码器开始工�???
    HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_ALL);
    //定时�???1�???始工�???
    HAL_TIM_Base_Start_IT(&htim1);

  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* Call init function for freertos objects (in cmsis_os2.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM7 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM7) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */
  if (htim->Instance == TIM2) {
		setState(true);
	}
  //定时�???1中断，计算轮子�?�度
  if (htim->Instance == TIM1)
  {
    Robot_Encoder_Get_CNT();
  }
  //定时�??4中断，判断编码器上溢出，还是下溢�??
  if (htim->Instance == TIM4)
  {
    if (TIM4->CR1 & 0x10)
    {
      //上溢�??
      Robot_Encoder_CNT[0]++;
    }
    else
    {
      //下溢�??
      Robot_Encoder_CNT[0]--;
    }
  }
  //定时�??5中断，判断编码器上溢出，还是下溢�??
  if (htim->Instance == TIM5)
  {
    if (TIM5->CR1 & 0x10)
    {
      //上溢�??
      Robot_Encoder_CNT[1]++;
    }
    else
    {
      //下溢�??
      Robot_Encoder_CNT[1]--;
    }
  }
  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
